#ifndef __GRAP_H
#define __GRAP_H
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "grap_pid.h"
#include "bsp_can.h"
#include "can.h"
#include "usart.h"
#include "stdio.h"
#include "FreeRTOS.h"


extern int set_grapspd[8],PercentG;;
extern int set_angle[10];
extern pid_t pid_grapspd[8],pid_grappos[8];

extern moto_measure_t moto_grapchassis[8];//4 chassis moto

void init_grap(CAN_HandleTypeDef* hcangrap,int id1,int id2,int id3,int id4);
void grap(CAN_HandleTypeDef* hcangrap,int id1,int id2,int id3,int id4);
void graprev(char *pRx_Data,int id1);
void Autograp(char *pRx_Data,int id1);


#endif

